Distance measuring device

ABSTRACT

An optoelectronic distance measuring device is disclosed. The device has a transmitting unit with a driver stage for emitting optical pulses, a receiving unit for receiving a portion of the optical pulses, said portion being reflected from a target object, and converting it into an electrical reception signal, via a photosensitive electrical component. It also has an analogue-digital converter for digitizing the reception signal, and an electronic evaluation unit to ascertain a distance from the target object on the basis of a signal propagation time using the digitized reception signal. The driver stage can be designed so that at least two pulse durations of different length for the optical pulses can be set.

The invention relates to a distance measuring device according to thepreamble of Claim 1 and to a distance measuring method according to thepreamble of Claim 9.

In electro-optical distance measuring devices (EDM), an optical signalis emitted from the apparatus in the direction of the target objectwhose distance it is necessary to determine, for example as opticalradiation in the form of laser light. If visible light is used in thiscase, then the point aimed at for measurement on the target object canbe visually discerned. By contrast, if non-visible wavelengths, e.g. inthe infrared range, are used or if the target object is further away,then aiming at the point to be measured can be carried out by means ofan optical device, for example by means of a crosshair in an observationdevice.

The surface of the target object reflects at least part of the opticalsignal, usually in the form of a diffuse reflection. The reflectedoptical radiation is converted into an electrical reception signal by aphotosensitive detector element in the apparatus. With knowledge of thepropagation velocity of the optical signal and with the aid of thepropagation time determined between emission and reception of the signal(that is to say that propagation time which is required by the light forcovering the distance from the apparatus to the target object and back),it is possible to determine the distance between apparatus and targetobject. In this case, optical components for beam shaping, deflection,filtering, etc.—such as, for instance, lenses, wavelength filters,mirrors, etc.—are usually situated in the optical transmission and/orreception path. In this case, the emission and reception can be effectedcoaxially or by means of two adjacent optical units. Distance measuringdevices of this type can be designed as independent apparatuses, but canalso be integrated into other apparatuses, for example into surveyingapparatuses such as theodolites or tachymeters, or into observationapparatuses such as telescopes, monoculars, binoculars, night visionapparatuses, etc.

In order to compensate for influences which might corrupt themeasurement results (for example temperature influences, componenttolerances, drifting of electronic components, etc.), part of theemitted optical signal can be guided as a reference signal via areference path of known length from the light source to alight-sensitive receiving element. In this case, the reference path canbe fixedly incorporated in the apparatus or be designed for example asan optical deflection element that can be pivoted in or plugged on. Thereception signal resulting from said reference signal can be received bythe photosensitive element which is also used for measurement or by afurther photosensitive element provided especially for the referencesignal. The resulting electrical reference signal can be used forreferencing and/or calibrating the measured values determined.

In order to obtain a correspondingly high accuracy of the distancemeasurement, on account of the high propagation velocity of opticalradiation, the requirements made of the temporal resolution capabilityin electro-optical distance measuring devices (EDM) are extremely high.By way of example, for a distance resolution of 1 m, a time resolutionhaving an accuracy of approximately 6.6 nanoseconds is required.

The measurement requires sufficiently high signal intensities for thereturning reception signal that are able to be detected by the receiver.The signal power which can be emitted for the transmission signal fromthe optoelectronic EDM under consideration here is limited by physicaland regulatory limits, however. In many cases, pulsed operation istherefore used. The emitted optical signal thus has its intensityamplitude modulated in a pulse-like manner. Temporally short pulseshaving a high peak power are emitted, followed by pauses in which noemission of light takes place. Hence, the reflected portion of thepulses has sufficiently high intensity to allow said pulses to beevaluated from the background disturbances and noise, particularly alsowhen background light (sunlight, artificial lighting, etc.) is present.The number of pulses per packet can be varied, depending on theevaluation concept and the measurement situation, from single pulsesthrough to a quasi-continuous pulse train.

In order to determine the propagation time of the signal, firstly theso-called time-of-flight (TOF) method is known, which determines thetime between the emission and reception of a light pulse, the timemeasurement being effected with the aid of the edge, the peak value orsome other characteristic of the pulse shape. In this case, pulse shapeshould be understood to mean a temporal light intensity profile of thereception signal, specifically of the received light pulse—detected bythe photosensitive element. The point in time of transmission can bedetermined either with the aid of an electrical pulse for initiating theemission, with the aid of the actuating signal applied to thetransmitter, or with the aid of a reference signal mentioned above.

Secondly, the so-called phase measuring principle is known, whichdetermines the signal propagation time by comparison of the phase angleof the amplitude modulation of the transmitted and received signals. Inthis case, however, the measurement result in the case of onetransmission frequency has ambiguities in units of the transmissionfrequency period duration, thus necessitating further measures forresolving these ambiguities. By way of example, WO 2006/063740 disclosesmeasurement with a plurality of signal frequencies which result indifferent unambiguity ranges, as a result of which incorrect solutionscan be precluded. WO 2007/022927 is also concerned with unambiguities inphase measurement.

When the principles of distance measuring methods are consideredmathematically, it is possible to see a dependency for the attainabledistance measuring accuracy on the emitted light pulses. As explained inthe book “Electro-Optical Instrumentation—Sensing and Measuring withLasers” by Silvano Donati, in chapter 3.2.3, for example, it is possibleto see that the measuring accuracy is dependent on the reception signalenergy (that is to say on the number of photons received). Theembodiment of distance determination using a threshold value for thereception signal edge which is described in this section of the book canbe regarded as exemplary in this case and merely as a good example. Theunderlying principles and the results thereof can similarly also beapplied to other evaluation methods for ascertaining distance bydetermining the propagation time of light pulses.

Specifically, equation 3.16,

σ₁=τ·(factor)

shows that the period of the pulse τ has an influence duringdetermination of the attainable measurement error σ_(t), particularly anessentially linear influence, scaled using a factor which combines awide variety of other influencing variables. This fundamental resultalso continues to be valid when the algorithm used for evaluating thedistance is varied, specifically since the physical principles ofmeasurement remain the same. The result is also largely independent ofthe signal shape received.

Since the measurement inaccuracies therefore improve linearly in a firstapproximation as the pulses used become shorter in time, a higher levelof measurement accuracy can be achieved with shorter pulses.

The intensity of the received portion, reflected from the target object,of the emitted light is dependent on various factors and can thereforealso vary greatly. In this case, an influencing variable that can bementioned is the distance from the target object, with which theexpansion of the emitted beam of measurement light increases, and alsothe signal attenuation as a result of atmospheric disturbances such asmist, fog, heat haze or dust increases on account of the longer path. Indistance measuring devices, large working ranges are often required inthis case, for example from the dm range to the km range. In observationapparatuses having distance measuring devices (for example night visionapparatuses, telescopic sights, telescopes, binoculars, etc.), there areoften required ranges of from a few metres to many kilometres, forexample from 5 m to 20 km or 30 km, and this is with a measurementaccuracy of a few metres or even less, for example of from ±1 m to ±5 mor less.

A significant factor in this case is the signal-to-noise ratio (SNR) ofthe information used for determining the distance. The SNR attained is,inter alia, also one of the main criteria for the maximum measurementdistance that can be attained.

If the received signal is too weak, then it can no longer be identifiedunambiguously from the background noise or the ambient light. On accountof the poor signal-to-noise ratio, only an inaccurate or in the worstcase no distance measurement at all is possible. In order to be able toperform a measurement, the SNR needs to exceed a certain minimum levelat which the signal can be discerned from noise and hence it is actuallypossible to perform a measurement. Particularly by virtue of statisticalmethods, averaging operations, etc., this is entirely possible even witha low effective SNR for a single received pulse. In the case of arepeated train of short pulses and summation or averaging of theresultant measurement signals, a higher SNR can be attained. Thestatistical averaging performed in this case can prompt an improvementin the SNR by averaging out nondeterministic error influences, such asnoise. Numerical averaging of a plurality of measurements following theA/D conversion can also prompt the significant bits of the digitalreception signal representation to be expanded. By way of example,correct-phase accumulation of a plurality of reception pulses may allowmeasurement even at SNR values for the single pulses below 1. With Nreception pulses, this results in an improvement in the signal-to-noiseratio (SNR) by approximately a factor of √N, this effect not being ableto be extended to any number N, but rather the improvement becomingsaturated from a certain number of pulses onwards.

An SNR above a minimum threshold is a basic requirement to be able toperform a measurement in the first place. A further increase beyond thisminimum threshold allows greater measurement accuracy, greaterreliability of the measurement or shorter measuring periods (for examplebecause fewer signals need to be accumulated in order to obtain anevaluatable signal). However, the aforementioned improvements alsodecline from a certain SNR level onward and then have only a marginaleffect on the measurement result, for example because other limitingeffects prevail.

In this case, the noise term N is formed primarily by the signaltransmission path, that is to say by the measurement distance over whichthe light travels, by external interfering influences, such as ambientlight and (usually to a substantial degree) by the noise in theelectronic receiving circuit. In this case, N is also dependent on theambient conditions such as temperature, etc., which need to be acceptedas pre-existing. Particularly in apparatuses having a distance measuringdevice for field use, temperature ranges of from −20 to +60° C., forexample, or greater are often required. Although the receiving circuitis designed to have as little noise as possible, this cannot be avoidedtotally.

The signal term S also has limits set. Besides the reflectivity of thetarget for the measurement radiation, which reflectivity cannot beinfluenced without using specially prepared targets, the receivedintensity of the reflected signal also decreases as the measurementdistance increases, for example. Although it is possible to subsequentlyraise the signal level through amplification, this also always amplifiesthe noise (which occurs before and in the amplifier). The amplifier usedfor this is also an additional noise source in the system.

An obvious approach to increasing the signal strength of the receptionsignal is to increase the signal strength of the transmission signal. Ifit is assumed that the attenuation of the signal path with respect tothe signal strength is linear, this prompts a linear increase in theSNR. Hence, by way of example, doubling the transmission intensity couldalso (at least approximately) achieve doubling of the SNR of thereception signal. The maximum possible transmission intensity has limitsset, however, specifically by physical limits, for example the lightsource used, the actuating circuit, the available transmission power orsupply power, thermal limits, etc., specifically with regard toconstraints such as small physical size, battery operation, componentcosts, etc., which pre-exist specifically in the case of a mobiledistance measuring device.

If the received optical signal has too great an amplitude, on the otherhand, then this can result in saturation in the receiver, e.g. for thereceiving element, an amplifier stage or an A/D converter. Suchsaturation makes accurate distance measurement difficult or impossible.The signal dynamic range of the receiving circuit is thus limited on thebasis of hardware, which also limits the possible range of the S term.By setting the pulse amplitudes, it is possible to adopt differenttarget object reflectivities and signal attenuations along themeasurement path, for example.

The document WO 97/22179 describes a circuit arrangement for a pulseoutput stage which can be used as a driver stage for feeding a lightsource and for emitting light pulses. This circuit can be used to varythe amplitude of the emitted pulses and hence the energy emitted perpulse. The duration of the pulses produced is fixedly prescribed by thecircuit design, however. DE 23 31 084, DE 199 43 127 and U.S. Pat. No.3,628,048 also show similar circuit concepts. The durations of thepulses in this case change at most as a by-product of the amplitudechange, for example as a result of changing signal edge gradients orsignal edge levels.

The range of variation of the transmission pulse amplitude has limitsset even with such a pulse output stage, however. Firstly, thesaturation of the receiver, explained previously, needs to be avoided.If, by way of example, a constant radiation portion is coupled from thetransmitter directly onto the receiver as a reference signal via areference path, the admissible amplitude dynamics of the transmitterneed to match those of the reference receiver. The radiation source ofthe actuating circuit therefor may also be a limiting factor with amaximum possible pulse amplitude value.

A further known starting point for improving the SNR is to filter outthe undesirable noise component from the measurement signal.Specifically, this involves matching the bandwidth (BW) of the receivedsignal to that of the useful signal, that is to say filtering out highfrequency or low frequency noise and also other interference signalsusing digital and/or analogue filters, for example. In this case, theSNR can be improved by a factor of √BW, for example. In this case too,practical implementability has limits set, since steep filters of highquality and high linearity in amplitude and phase can be implementedonly with difficulty in practice. By way of example, it is necessary toavoid aliasing effects during digitization by adhering to the Nyquistcriterion sufficiently well. Specifically analogue filters havingappropriate characteristic values are a challenge in terms of circuitry.On the other hand, alternative digital filtering requires the use ofcorrespondingly higher sampling rates and is therefore likewise complexand costly in terms of circuitry.

In this case, excessive limiting of the bandwidth has a negative effecton measurement accuracy, since trimming the high frequency componentsalso entails a loss of signal information. This is also consistent withthe assessment explained further above that higher measurement accuracycan be achieved with short—and hence more wideband—pulses. The bandwidthof the receiver should therefore be attuned (at least approximately) tothe bandwidth of the transmitted pulse signal.

The known solutions from the prior art in their known form are thereforea compromised solution as regards the signals used for distancemeasurement. Particularly in the case of distance measuring devices inobservation apparatuses, which are not intended for highly accurategeodetic land surveying, for example with measurement accuraciesapproximately in a range of one metre and with measurement ranges of upto 5, 10, 20 or 30 km or more and which generally require no specialtarget marks for measurement, the apparatus design in the prior artdesigns and stipulates the signal used such that it is possible tomeasure distance over the entire specified measurement range (or therange specified on the basis of the possibilities of the signal used).

It is an object of the present invention to improve an optoelectronicdistance measuring device.

In this case, it is also an object to expand the scope of distancemeasurement for an EDM, that is to say that distance range in whichdistance measurement is possible, specifically without losingmeasurement accuracy at short range.

In particular, it is an object to improve the relative distancemeasuring accuracy for the distance over the measurement range,specifically in each case at the upper and lower ends of the capturablemeasurement range.

It is a further object of the present invention to improve and simplifythe distance measuring device by simplifying matching parameters of thedistance measurement to the circumstances of the respective measurementtask.

It is also a specific object to provide user-selectable measurementmodes which can be used to meet the respective requirements of ameasurement task. In this case, the user can be provided with thefreedom of choice between greater maximum distance range—but with a lessaccurate distance measurement value, or a shorter maximum distancerange—but with more precise measurement of the distance value.

As a specific task, the aim is to provide a transmitting unit for adistance measuring device, particularly a semiconductor laser driverstage as a pulse output stage, which can be used to influence theemitted pulses not only in terms of their amplitude value but also interms of their pulse duration.

According to the invention, short pulses, which are evaluated using alarge bandwidth in the receiving circuit used, are applied forcorrespondingly high signal strengths (that is to say specifically forshort distances, highly reflective targets and/or good visibility).These short pulses allow—when evaluated at high frequency—accuratedistance measurement. In this context, a large bandwidth can beunderstood to mean particularly a receiving circuit bandwidth that is aslarge as possible on the basis of hardware and that is prescribed as adesign criterion with the circuit layout.

If the received signal intensity in comparison with noise isinsufficient to perform a measurement successfully (specifically in therequired time), the invention involves the emission of pulses ofrelatively long pulse duration which can also be evaluated with a lowerbandwidth as appropriate. This allows more narrowband filtering andbetter noise rejection and hence an improvement in the SNR.

Since the hardware receiving circuit is designed for the higherbandwidth of the short pulses anyway, it is particularly possible toapply digital filtering in software or hardware in this case. Althoughthe alternative of bandwidth matching for an analogue filter is likewisepossible, switching analogue filter coefficients can be complex, canincrease the complexity and component outlay for the circuit and cangenerally reduce circuit performance.

In summary, the invention allows temporally short pulses to be used toattain greater measurement accuracy, these shorter pulses also requiringa correspondingly high bandwidth in the receiver. However, the highbandwidth also prompts an increase in the noise term or worsening of theSNR. This poorer SNR reduces the maximum possible measurement distance,since the received signal strength decreases as the target distanceincreases. Therefore, the invention uses temporally long pulses toincrease the maximum possible measurement distance, specifically becausethey can be evaluated with a lower bandwidth and hence a reduced noiseterm or improved SNR.

An electro-optical distance measuring device according to the invention,particularly a laser distance measuring device, also called an EDM(electronic distance measuring device) or LRF (laser range finder), forsolving said problems according to the invention, is constructed with

-   -   a transmitting unit having a driver stage for a light source,        particularly a semiconductor light source, for emitting optical        pulses as pulsed-mode-intensity-modulated optical radiation,    -   a receiving unit for receiving a portion of the optical        radiation, said portion being reflected from a target object,        and converting it into an electrical reception signal, by means        of a photosensitive electrical component, particularly a        photodiode, specifically an ADP or PIN photodiode,    -   an analogue-digital converter for digitizing the reception        signal, and    -   an electronic evaluation unit which is designed in such a way        that a distance from the target object can be ascertained on the        basis of a signal propagation time using the digitized reception        signal.

According to the invention, the driver stage is designed in such a waythat the optical pulses can be emitted with a variably adjustable pulseduration.

In the case of the distance measuring device, the electronic evaluationunit may also be designed in such a way that when ascertaining thedistance, using a filter, a bandwidth of the reception signal is matchedto the pulse duration that has been set, particularly that in the caseof a relatively long pulse duration the bandwidth is reduced,specifically the upper cutoff frequency of a low-pass-filtercharacteristic of the filter is lowered. In particular, the evaluationunit is designed to have a digital filter for matching the bandwidth ofthe digitized reception signal.

The driver stage of the distance measuring device may be designed insuch a way that pulses of the optical radiation can be emitted with avariably adjustable pulse amplitude value. In this case, the values ofthe pulse amplitude and of the pulse duration, which are prescribed by acontrol unit, may each be configurable independently of one another.

The distance measuring device can provide at least

-   -   a first mode of operation with a set first, short pulse duration        and    -   a second mode of operation with a set second, long pulse        duration,

particularly wherein the first mode of operation has a higher distancemeasuring accuracy and a shorter maximum ascertainable distance than thesecond mode of operation with a relatively low distance measuringaccuracy and a relatively longer maximum ascertainable distance. In thiscase, one of the modes of operation may be prescribable by an externaluser.

The control unit may be designed in such a way that the set, configuredor parameterized pulse duration is chosen on the basis of an at leastcoarsely ascertained or estimated distance. In particular, the pulseduration can be set to be longer for long distances than for shortdistances. When a distance threshold is exceeded by the ascertaineddistance, the pulse duration can then automatically be set to be longerthan when the ascertained distance is below the distance threshold.

By way of example, the driver stage of the distance measuring device maybe a pulse output stage which is designed in such a way that a pulseduration for output pulses which actuate the light source can be set,with particularly a pulse amplitude for output pulses also being able tobe set.

The driver stage of the distance measuring device may have a connectablecapacitor, for example, connection of which can be used to set,particularly extend, the pulse duration of the emittable light pulses.

According to the invention, by way of example, an observation apparatusmay be equipped with a distance measuring device as describedpreviously, in which the observation direction of said observationapparatus runs at least approximately parallel to a measuring directionof the distance measuring device. In this case, a “high distanceaccuracy” mode and a “long measurement distance” mode for the distancemeasuring device can be selected on the observation apparatus.

The invention likewise relates to a distance measuring method comprising

-   -   emission of pulsed-mode-amplitude-modulated optical radiation,        particularly laser light,    -   reception of a portion of the optical radiation, said portion        being reflected from a target object, by means of a        photosensitive electrical component which converts the received        optical radiation into an electrical reception signal,    -   digitization of the reception signal by means of an        analogue-digital converter, and    -   ascertainment of a distance from the distance measuring device        to the target object on the basis of a signal propagation time        by means of evaluation of the digitized reception signal by        means of an electronic evaluation unit.

In this case, the emission takes place when a pulse duration is set forthe emitted optical radiation.

By configurably filtering the reception signal when ascertaining thedistance, it is possible to match a bandwidth of the reception signal tothe set pulse duration, and in this case the bandwidth can be reducedfor longer pulse durations. The filtering can be effected as a digitalfilter for the digitized reception signal. Besides the pulse duration,it may also be possible to set a pulse amplitude, the duration andamplitude each being able to be set separately from one another.

The pulse duration can be set on the basis of the distance, inparticular it is possible to set a longer pulse duration for a distanttarget object (at a relatively long distance) than for a close targetobject (at a relatively short distance). Specifically, the set pulseduration can automatically be matched to the ascertained distance, inparticular it is possible to extend the pulse duration as distanceincreases, with specifically the pulse amplitude being kept constant.Alternatively, it is also possible to extend the pulse duration of theemitted optical radiation when the signal-to-noise ratio (SNR) is belowa prescribed minimum threshold.

The distance measuring method according to the invention can beperformed such that a selection is made between

-   -   a first mode “accurate measurement” with emission of light        pulses with a shorter duration than in    -   a second mode “long measurement” with emission of light pulses        with a longer duration than in the first mode.

In other words, the invention relates to a method for matching thedistance resolution capability or the distance measurement range of anoptoelectronic distance measuring device comprising matching of a pulseduration of an emitted optical transmission signal from the distancemeasuring device on the basis of an ascertained (or ascertainable)distance. This can be effected particularly by extending the pulseduration for relatively long distances by means of an evaluation unitand matching the bandwidth of a reception signal, used for ascertainingthe distance, to the pulse duration. In this case, the extension can beperformed manually by the user or automatically by the evaluation unit.By way of example, the pulse duration of the emitted light can also beextended dynamically and/or on the basis of distance. A distancemeasuring method according to the invention may also have an automaticmode which performs variable adjustment of the pulse duration usingcharacteristics of the received signal automatically. By way of example,such characteristics may be the determinability of reception pulses in areception signal, the SNR thereof, etc. In another embodiment, it isalso possible to implement an automatic mode in which the pulse durationis set variably on the basis of a current setting for focussing and/or azoom factor of the targeting device.

The invention also relates to a computer program product having programcode, which is stored on a machine-readable storage medium, or to acomputer data signal, embodied by an electromagnetic wave, for carryingout the above method. In this case, the program code can vary themaximum measurement distance of an EDM by setting a pulse duration for adriver stage in the EDM. To this end, the program code can be executedin an evaluation unit of the electro-optical distance measuring device.

The method according to the invention and the apparatus according to theinvention are described in more detail below purely by way of exampleusing specific exemplary embodiments which are shown schematically inthe drawings, and further advantages of the invention are alsodiscussed. Specifically, in the drawings:

FIG. 1 shows a first embodiment of an inventive distance measuringdevice in the form of a block diagram;

FIG. 2 shows an exemplary illustration of an application of an inventiveEDM in an observation apparatus;

FIG. 3 a shows an illustration of an exemplary first inventiveembodiment of emittable optical pulses;

FIG. 3 b shows an illustration of an exemplary second inventiveembodiment of emittable optical pulses;

FIG. 4 shows an illustration of an exemplary third inventive embodimentof emitted optical pulses in a first and a second mode;

FIG. 5 shows an illustration of an exemplary fourth embodiment of aninventive setting for pulses;

FIG. 6 shows an illustration of an exemplary first embodiment of asetting for different measurement distances;

FIG. 7 shows an illustration of an exemplary second embodiment of asetting for different measurement distances;

FIG. 8 shows an illustration of an exemplary first pulse train for closetarget objects;

FIG. 9 shows an illustration of an exemplary second pulse train for moredistant target objects;

FIG. 10 shows an illustration of an exemplary third pulse train for verydistant target objects;

FIG. 11 shows an exemplary schematic illustration of a first circuitryembodiment of an inventive driver stage;

FIG. 12 shows an exemplary schematic illustration of a second circuitryembodiment of an inventive driver stage;

FIG. 13 shows an exemplary schematic illustration of a third circuitryembodiment of an inventive driver stage;

FIG. 14 shows an exemplary schematic illustration of a fourth circuitryembodiment of an inventive driver stage;

FIG. 15 shows an exemplary schematic illustration of a fifth circuitryembodiment of an inventive driver stage;

FIG. 16 shows an exemplary schematic illustration of a sixth circuitryembodiment of an inventive driver stage.

The illustrations in the figures serve merely for illustration andshould not be considered as being to scale. The illustrated circuitdiagrams each show the basic circuit structure, which can be added to ormodified by a person skilled in the art in accordance with generalprinciples of electronics development.

FIG. 1 shows an embodiment of an inventive optoelectronic distancemeasuring device 99 in the form of a block diagram. By way of example,this may be a battery operated distance measuring device which is fittedin an observation apparatus and which can be used for sighting anddetermining target coordinates for a target object 11. Alternatively,the principle according to the invention can be applied to otherdistance measuring devices, for example in surveying apparatuses.

The right-hand half of the distance measuring device block 99 shows thetransmitting unit and the left-hand half shows the receiving unit. Theseparation between the two units which is described here can be seenprimarily on a functional basis in this case and may (but does not haveto) be designed in the form of two physically separate units. It ispossible to produce embodiments in which both units are accommodated ona shared printed circuit board, and also embodiments in which thecomponents of the distance measurement are split over a plurality ofprinted circuit boards, which are also arranged so as to be physicallyseparate.

The target object 11 for which it is necessary to determine the distance13 reflects at least some of the electromagnetic radiation 10 emitted bythe transmitting unit to the receiving unit as reception radiation 12.In this case, some of the emitted radiation can also be routed to thereceiving unit as a reference beam 14 via a reference path of knownlength. The reference beam 14 and the measurement beam 10 may each beprovided with a dedicated receiving unit or a shared receiving unit.When a separate reference receiver is used, the receiving unit or partsthereof accordingly need to be of doubled design. It is also possiblefor the beam guiding to be changed over between reference beam 14 andmeasurement beam 10, for example by means of a reference deflectiondevice that is within the apparatus or can be fitted externally.Alternatively, the principle according to the invention can be appliedto a distance measuring device without an optical reference path.

By virtue of the target object 11 shown disproportionally near in FIG. 1for reasons of space, the transmission beam 10 and the reception beamare illustrated at an unusually steep angle with respect to one another.In practical embodiments, the transmission and reception beam paths(that is to say the optical axes thereof) are oriented such that theycan be regarded as approximately parallel to one another or intersect ata prescribed distance. Embodiments having specific optical units thateffect distortion in an angle-dependent manner at the receiver are alsoknown, in order to be able to cover a wide distance range, specificallyincluding short distances. Embodiments having coaxial optical axes ofthe transmission and reception beam paths are also known, this beingable to be achieved by virtue of the transmission beam 10 beingreflected into the region of the centre of the receiving optical unit15, for example.

In the distance measuring device 99, a block diagram of an exemplaryinternal construction of an embodiment of the transmitting and receivingunit is in each case illustrated, which will now be discussed in detail.The illustration serves merely to explain an exemplary internalapparatus construction, which can also be varied within the context ofpractical embodiments of the principle according to the invention.

The embodiment of the transmitting unit shown by way of example has acontroller processor 4 and a driver stage 5 for the light-emittingcomponent 6, which converts the electrical signals of the driver stage 5into electromagnetic radiation 10, 14. By way of example, semiconductorlight sources, e.g. semiconductor lasers, semiconductor-pumped lasers orlight-emitting diodes (LED), or other light sources can be used as lightemitter 6. The emitted light is collimated by an optical unit 16 to forma directed beam 10 having low divergence. In this case, the driver stage5 is adapted to the emission characteristics of the light source 6 inorder to produce the intensity-modulated optical transmission radiation10. In this case, the intensity of the emitted light signals 10 can beprescribed by the control unit 4, for example in a plurality of discretesteps or else continuously. Such variation of the optical output powercan be used in order, in accordance with the proportion of a light 12returning from the target object 11 to the receiver 1, to obtain areception signal in an intensity range that can be evaluated by thereceiver unit, for example. The advantageously evaluatable intensityrange can, by way of example, be defined as that range which is above alower detectability limit for the receiving unit—but below an uppersaturation for the receiving unit.

If the reception signal is, by way of example, very weak relative to thesignal noise or if the reflected portion of the emitted pulse is notdetectable at all in the reception signal, then the intensity of thetransmission signal can be increased (e.g. in steps or continuously)until it is possible to determine the distance. Conversely, in the casewhere the receiver is overdriven, the emission power can be decreaseduntil saturation of the input circuit no longer occurs. Since thealteration of the emission power may also be accompanied by other,parasitic effects, the output power is often varied between discretesteps for which at least partial compensation for the parasitic effectscan in each case be performed using calibration parameters.

Specifically on account of the temperature dependence of the emissionpower of laser diodes, the driver stage may contain a control loop forcomplying with the desired optical transmission power, which ismonitored by means of a monitor photodiode, for example. The laserdriver stage 5 or the actuation thereof may also be designed to complywith safety conditions, for example with the eye safety guidelines.

In the embodiment shown, the control processor 4 can be ascribed both tothe transmitting unit and to the receiving unit and controls thesequences for determining the distance. In other embodiments, it is alsopossible to use a plurality of control processors 4 which each performspecific partial tasks. By way of example, the control processor 4 maybe an appropriately programmed digital computer, such as amicroprocessor or DSP. Alternatively, the control processor 4 or partsthereof may also be embodied as an FPGA, ASIC or with at least partlyhardwired logic.

The block 7 is the power supply for the distance measuring device, saidpower supply containing not only supply filters but possibly also avoltage stabilization or control unit or a boost or buck converter.Power can be supplied by means of batteries, storage batteries or otherapparatus-internal or apparatus-external electrical energy sources.

The receiving unit converts received electromagnetic radiation 12 intoan electrical signal by means of the receiving element 1. Saidelectrical signal can also be conditioned as appropriate in the block 2for further processing, for example by impedance conversion, filtering,amplification, band limiting, heterodyne or homodyne mixing, etc. Theremay thus be an input filter, a (transimpedance) amplifier, a mixingstage, a sample&hold element, etc., or else a combination of thesepresent, for example. As a receiving element, the receiver 1 of theoptical radiation 12 can use a photodiode, for example a PIN oravalanche photodiode (APD) having a corresponding bias voltage. Byvarying the bias voltage of the APD, it is possible to set thetransmission ratio thereof from the optical signal toward the electricalsignal. In the case of APDs, however, not only the gain but also thenoise increases with the bias voltage.

The conditioned reception signal is digitized—that is to say time andvalue quantified—by an analogue-digital converter 3 and is supplied to adigital computation unit 4 (a microprocessor, DSP, FPGA, ASIC, etc.) forfurther processing and for determining the distance. If appropriate, theEDM system may be equipped with an additional external processor,microcontroller or DSP which can specifically undertake evaluation orinterfacing tasks, for example the provision of an operator controlinterface or of a communication interface.

By increasing the amplitude or the peak value of the emitted signalpulses, it is likewise possible to improve the signal-to-noise ratio ofthe reception signal. Such an increase has physical limits set, however,for example in the form of a maximum possible peak power for theactuating circuit or for the light emitter. In order to obtain anapparatus design that is optimized in terms of cost, the components usedare usually operated in the upper range of their admissiblecharacteristic values anyway, which means that the further increase inthe output power is infeasible in many cases or would entail highercosts. Higher actuating pulses can also result in increasedelectromagnetic interference emission and/or heat problems.

Extending the pulse duration (also called pulse length) in accordancewith the invention can likewise be used to improve the SNR withouthaving to design the transmitting stage for higher peak voltages at thesame time. Although the temporally longer pulse does not directlyincrease the value of the received signal, it is possible to evaluate alonger pulse with a smaller bandwidth. This lower bandwidth brings aboutbetter rejection of the noise (the noise term is approximatelyproportional to the square root of the bandwidth), however, which canimprove the SNR—from the other side, as it were.

Although the steeper signal edges and the higher bandwidth of shortpulses allow more accurate distance determination, the noise bandwidthwhich is captured at the same time is likewise higher. The componentcosts, the evaluation complexity, the power consumption, etc., also risewith higher bandwidths and correspondingly higher measurementfrequencies for the evaluation circuits, which is unacceptable for manyapplications, particularly mobile applications.

Up to certain distances (or target reflectivities), an increase in thepulse amplitude may therefore be the means of choice, but cannot bescaled arbitrarily toward very large ranges in practice. It may alsohave other associated disadvantages, such as higher power consumption ora longer measurement time, since a sufficiently large SNR formeasurement can be achieved only by overlaying a multiplicity ofreception signals. In some applications, a fast, energy-savingmeasurement, or a longer measurement range, can be preferred, even ifthis reduces the measurement accuracy. The concept according to theinvention also allows changeover between two or more modes of operationwhich can respectively be used to select the maximum range (orconversely the attainable measurement accuracy) on the preparedapparatus (even during measurement).

According to the invention, the EDM is improved by making it possible tocapture a long range and to render it accessible to measurement. Themeasurable range scope of the EDM is therefore improved, and distancefinding is made possible for a wide distance scope for target objects.The invention achieves this by extending the duration of the emittedlight pulses for longer measurement distances, which can be implementedby extending the actuating pulses of the light source, for example. Forshorter measurement distances, which do not require such a long range,the invention generates light pulses or actuating pulses of relativelyshort duration, as a result of which it is possible to achieve greateraccuracy for the distance value determined by the EDM than in the caseof the pulses having long pulse durations.

Hence, it is possible to cover a larger range scope in comparison withknown apparatuses without thereby having to accept lower measurementaccuracy even for measurement at close range. By way of example, thiscan be accomplished by virtue of the mode of operation being changed inthe transmitting unit, depending on the embodiment manually by the useror automatically by a control unit of the EDM, for example on the basisof characteristics of the reception signals.

When choosing the smallest pulse width in a distance measuring device,it is usually necessary to take account of the bandwidth of the hardwareof the receiver circuit, since this limits the minimum pulse durationthat can usefully be processed within the context of distancemeasurement.

FIG. 2 shows an exemplary use of an inventive distance measuring device99 in an observation apparatus 19, which can be used for sighting atarget object 11 and determining the distance 13 thereof from theobserver. In this case, the observation apparatus has an observationdirection which at least approximately matches the measuring directionof the distance measurement, as a result of which the distance measuringdevice 99 can be used to ascertain a distance from an observed targetpoint 11. By way of example, it is also possible to use what is known asa goniometer, that is to say to use inclination sensors, for example, inthe observation apparatus (or in a stand supporting the observationapparatus) to ascertain an inclination of the measuring direction withrespect to the horizontal, as a result of which it is possible toascertain a horizontal projection for the distance 13 determined by theEDM, for example. It is also possible, for example using a compass or avertical angle measurement in the observation apparatus or stand, todetermine an azimuthal measuring direction. The apparatus can thus beused to determine geographical coordinates for the target object 11, forexample.

The observation apparatus 19 which is shown in FIG. 2 and equipped witha distance measuring device according to the invention is used toascertain a short distance 13A from the vehicle 11A as a first targetobject by emitting short light pulses with high measurement accuracy(symbolized by the short pulse shown from the measurement distance). Thedistance from the very distant building 11B as a second target objectcannot be determined using the short pulse, since the SNR of themeasurement signal is too low. Therefore, the long distance 13B isascertained using a pulse of long duration (symbolized by the long pulseshown for the measurement distance). Even if the attainable measurementaccuracy in this case is lower in comparison with measurement using theshort pulses, it is thus at least possible to survey this distant target11B. In several applications, less accurate measurement of distanttargets is preferable to no measurement. According to the invention, therelative measurement accuracy, based on the measured distance, can beimproved over the entire scope of measurement in comparison withmeasurement using fixed pulse duration. By way of example, the user ofthe observation apparatus 19 can choose between two relevant measurementmodes for close or distant targets (or for high or low measurementaccuracy) for this purpose during the measurement assignment.

According to the invention, short distances are measured using shortpulse durations, and long distances are measured using long pulsedurations. If the principle according to the invention is consideredfrom the point of view of attainable measurement accuracy, work isperformed between accurate measurement—with restricted distancerange—using short pulses and less accurate measurement—with extendeddistance range—using long pulses.

The emission of pulses having relatively long durations is better suitedto spanning long measurement distances. In comparison with a shortpulse, the peak signal intensity of the long pulse is admittedly nothigher, but more noise can be filtered out for a smaller bandwidth,which means that the signal to be evaluated is above the detection limitof the receiver circuit or the signal evaluation in the case of the longpulse. By contrast, the signal energy of short pulses in the case oflong distances will not be sufficient to evaluate the pulse from the nowmore wideband and correspondingly more severe noise, as a result ofwhich the latter can no longer be adequately detected and hence reliabledistance determination is no longer possible.

Although the pulse broadening according to the invention means that acertain amount of worsening of the measurement accuracy is accepted incomparison with short pulses, it is possible to achieve a furtherimprovement in the SNR for constant amplitude, which is of benefitparticularly in the case of weak signals from long distances and henceallows the maximum range of the distance measurement to be extended.

By way of example, an EDM allows the provision of a first mode ofoperation for short to medium distances, in which short pulses areemitted. This first mode is distinguished by a limited range but highdistance measurement accuracy.

In a second mode of operation for distant target objects, in whichpulses of longer duration are emitted, the measurement accuracy isadmittedly lower than in the first mode, but this mode allows theattainment of measurement ranges which may no longer be able to bemeasured at all in the first mode, or on account of the poor SNR can bemeasured with less accuracy than in the second mode. This second mode isdistinguished by the greatest possible range but lower distancemeasurement accuracy.

Within one or both modes, it is also possible to vary the pulseamplitude, on the basis of the reflectivity of the target object and/orthe measurement distance, that is to say on the basis of the intensityof the reception signal. In one embodiment according to the invention,it is therefore possible to vary not only the pulse amplitude but alsothe pulse width of the emitted light. In other words, the driver stageof the light source is designed in such a way that it can produceactuating pulses having a variable amplitude value and having a variableduration, these two parameters being variable during the operation ofthe driver stage.

The principle according to the invention can also be expanded to morethan two different pulse durations, for example to a number of 3, 4, 5,6, etc., different pulse durations as far as a quasi-continuous orcontinuous selection of the pulse durations. By way of example, thedistance measuring device provides a plurality of appropriate modes inthis case. The number of modes can therefore be extended as desired,from a selection comprising at least two modes having respectivediscrete pulse widths to a continuous or quasi-continuous variation ofthe pulse width.

In this case, the modes can be selected manually by the user, by thecontrol electronics of the distance measuring device or automatically onthe basis of the ascertained distance. By way of example, the user canuse his subjective estimation of the distance to select a mode. On thebasis of the result of a first distance measurement attempt, the EDM canpossibly indicate to the user that characteristics of the receptionsignal mean that if the mode is changed then it would probably bepossible to attain a better measurement result, or can advise him toperform such a mode change and a fresh measurement attemptautomatically.

The circumstance described above is also evident, by way of example, inthat highly accurate geodetic distance measuring devices use temporallyshort to very short light pulses, e.g. having modulation frequencies forthe emitted signals in the range from 200 to 500 MHz or in the GHzrange.

Accurate measurements of long distances often also take a considerablemeasurement time and/or special reflectors are needed at the targetpoint which reflect a large proportion of the emitted signal to themeasuring apparatus. In the case of geodetic surveys, this often plays aminor part, particularly because, by way of example, proper apparatussetup and insurance in a superordinate coordinate system takes up manytimes the duration of a measurement. Although shorter measurement timesare always welcome in principle, compliance with a required measurementaccuracy is paramount in areas such as land surveying.

However, there are also measurement tasks in which the speed ofmeasurement is of greater importance. By way of example,measurement-based observation of processes in hazard areas, for exampleusing handheld apparatuses, which are merely referenced by means of GPSwith average accuracy, and the angular orientation of which isascertained by means of an inclination sensor and/or a compass, forexample. In respect of the attainable overall accuracy, which is limitedanyway in this context, a distance measurement accuracy in the range ofmetres is often sufficient in such applications.

By way of example, the limited stability of apparatus attitude forhandheld observation apparatuses having a distance measuringfunctionality also limits the range of distance measurement accuracythat can be considered useful. Distance measurement to millimetreaccuracy makes little sense with a handheld observation apparatus,particularly for measurement distances in the range of 100 metres or afew kilometres. Magnifying observation and surveying of very distanttargets is a frequency task which needs to be performed by such handheldapparatuses. In certain applications, a long measurement range, whichallows observation and surveying from a relatively great distance from ahazard area, is preferable. Examples of these may be huntingassignments, military or police operations, landmark navigation forpedestrians, land, air or water vehicles, etc., for example.

One way of changing the pulse duration of the emission duringmeasurement operation allows the construction of a new generation of EDMapparatuses in which the user has the opportunity to choose whether theaim is to perform accurate distance measurement up to moderatemeasurement ranges or less accurate distant measurement—but at maximumrange.

FIG. 3 a shows an exemplary illustration of pulse shapes which can havetheir pulse duration set in accordance with the invention. By way ofexample, two levels of pulse duration—short pulses 81 of duration T1 andlong pulses 82 of duration T2—are shown. In this case, purely by way ofexample, the pulse shape is shown to be approximately sinusoidal and mayalso differ from the shape shown (e.g. Gaussian pulses, asymmetricGaussian pulses, square-wave pulses, trapezoidal-wave pulses, sincpulses, etc.). The shape shown is the temporal intensity profile of theoptical intensity of the emitted electromagnetic radiation, which isobtained from the associated profile of the electrical actuating signalsfrom the light source 6 and the emission characteristic of the lightsource 6. By way of example, the pulse duration can be defined by theinterval of time between the rise above and drop below a prescribedrelative amplitude threshold, e.g. 50%, 10%, 90%. Alternatively, it isalso possible to use the inclusion of a defined proportion of the signalenergy or the area below the curve to define the pulse duration.

In the graph, the short and long pulses are shown at directly successivetimes; in one embodiment according to the invention, however, either theshort pulse duration 81 or the long pulse duration 82—depending on theactive mode of operation—may have been selected and only this pulseduration can be used in each case, as shown by way of example in FIG. 8to FIG. 10.

The figure also shows a further embodiment, in which the pulse energy isreduced. The illustration respectively shows short and long pulseshaving two different pulse amplitudes, in each case with the amplitudevalues 84A and 84C.

FIG. 3 b shows an example of another pulse shape, which can be achievedby a driver circuit 5 of different design, for example, as will beexplained further below. Again, short pulses 81 having a set pulseduration of T1 and long pulses 82 having a set pulse duration of T2 areshown, and in this embodiment it is also possible for the pulseamplitude to be set at three levels 84A, 84B or 84C.

FIG. 4 shows emission of short and long pulses, for example having ashort pulse duration T1 of approximately 100 ns and a long pulseduration T2 of approximately 400 ns. The pulse durations cited here canalso be chosen differently, particularly to be shorter. The ratio ofshort to long pulse may also be different. The signal amplitude of thetwo signals 81 and 82 is in each case the same as the value 84. For thepurposes of explanation, a band-limiting illustration is now shown herefor both the signals in each case. The short pulse 81 with widebandfiltering 81H and with narrowband filtering 81L, and the long pulse 82with wideband filtering 82H and with narrowband filtering 82L. The noiselevel produced during the filtering is shown at the value 74 for thewideband filtering and the value 75 for the narrowband filtering.

When the short pulse 81 is subjected to wideband filtering, theamplitude value of the filtered signal 81H lies sufficiently above theequivalent noise level of the wideband filtering, which allows distancedetermination. By way of example, the wideband filtering can bedetermined by the specified bandwidth of the receiving circuit hardware,specifically the bandwidth of an analogue input stage. If the shortpulse 81 were to be subjected to more narrowband filtering, on the otherhand, the resultant signal 81L would lie below the associated noiselevel of the low frequency filtering 75, which would mean that nodistance determination is possible.

Wideband filtering of the long pulse 82 results in the signal 82H, whichdoes not afford any significant advantages in respect of distanceevaluation over the signal 81H, but rather tends to be moredisadvantageous with regard to the distance accuracy that can beattained. The resultant SNR is not substantially better on account ofthe peak value of approximately the same magnitude.

Although the signal strength in the case of narrowband evaluation of thesignal 82 is also not better than that of signal 81H, more noise isfiltered out, which results in an equivalent noise level 75. In thiscase, the signal-to-noise ratio has been improved with a long pulseduration T2 and narrowband filtering 82L.

FIG. 5 now shows the above principle of the range improvement accordingto the invention using long pulse durations with reference to an examplein which measurement using short pulses would no longer be possible atall.

In the case of wideband filtering 81H, the short pulse 81 ends up belowthe noise level 74 produced by the filtering, which means that nodistance determination is possible. A short pulse 81L that has beensubjected to more narrowband filtering would even result in an evensmaller signal.

If the long pulse 82 is subjected to wideband evaluation, the pulseshape is approximately maintained and the curve 82H coincides with 82,which is why it is also not shown. However, this in no way alters thefact that the signal value is below the noise value 74 associated withwideband filtering, and therefore no distance determination is possible.

Narrowband evaluation of the long pulse 82 results in the pulse shape82L, which—viewed in absolute terms—is even disadvantageous incomparison with the wideband evaluation 82H (=82) from the point of viewof amplitude. However, the filtering during the evaluation also reducesthe noise level 75 picked up in the process in comparison with that ofthe wideband evaluation 74. Hence, it is nevertheless possible to attainan SNR of greater than 1, which is denoted by the grey area. It iscomprehensible to a person skilled in the art that the condition of anSNR>1 which is cited by way of example in the explanations is merelyintended to symbolize that the signal can be evaluated. In practicalembodiments, it is entirely possible for a higher or lower SNR value tobe important as a limit for the determinability of the distance, forexample when additional further methods (e.g. statistical averagingoperations, signal accumulation, correlation reception, etc.) are usedto improve the SNR.

In order to achieve an approximately equivalent SNR for the short pulse81 and wideband evaluation, the pulse amplitude in the example shownwould need to be raised for approximately double, as shown by the curves85 and 85H. There is no question of the more wideband evaluationpossibly allowing higher distance measurement accuracy to be attained inthis case, but an arbitrary increase in the emission power cannot alwaysbe implemented in practice for a wide variety of reasons (several ofwhich are mentioned).

In line with the above analysis, the distance range can be improved, inaccordance with the invention, for only weakly returning signals whichtherefore have a low SNR. As a simplified numerical example, theinvention can, to this end, use quadrupling of the pulse duration andcorresponding reduction of the bandwidth in the evaluation, for example,to reduce the noise by N=√(BW)—that is to say N=√(¼)=½—, or in otherwords the SNR can be improved by a factor of 2. As a result, it is alsopossible for the EDM to ascertain these long distances, which in thecase of short pulses would fall beneath the measurability threshold ofthe SNR.

This (simplified) example therefore shows that a distance for which thereturning signal has only the level 71, for example on account of thelong measurement distance, can be measured using a long pulse 82,whereas a short pulse would not lead to a measurement result. Themaximum measurement distance or distance range of the EDM has thereforebeen improved in accordance with the invention.

FIG. 6 shows a further embodiment of inventive modification of the lightpulses in which transmission pulses overlaid with three different pulselengths—with a common emission time—are shown. According to theinvention, this involves the use of the short pulses 81 (T1) for closetarget objects, the medium pulse durations 82 (T2) for medium ranges andthe long pulse durations 83 (T3) for very distant target objects, with agreater maximum measurement distance being able to be captured towardlonger pulses. The three-level gradation of the pulse durations T1, T2and T3 can be regarded as purely exemplary in this case and, in specificembodiments, may be produced by two-level through to (quasi-)continuousadjustability of the pulse duration.

FIG. 7 shows an embodiment in which a possible setting for a driverstage over the distance measurement range is shown. In this case, longpulses 83 are used for long distances, and although said long pulseshave the lowest distance accuracy of the low bandwidth in the evaluationfrom all the modes, they have the highest SNR.

If the SNR is sufficient anyway for relatively short distances, forexample, then the pulse duration T2 is set and the bandwidth for theevaluation increased—which improves the achievable measurement accuracy.A resultant decrease in the SNR—which at most also entails a decrease inthe maximum measurable range—can be accepted in this case on account ofthe sufficient reception signals.

For even shorter distances, it is similarly possible to use the pulse81C with a pulse duration of T1. In this case, it is possible to use thefull bandwidth of the receiver electronics used, for example, in orderto be able to ascertain the most accurate distance information possible.The received signal is of sufficient strength to obtain a sufficient SNReven with the resultant increased noise bandwidth.

If the reception signal becomes too strong, for example on account ofhighly reflective and/or very close target objects, it is possible toreduce the amplitude of the transmission pulse to that of 81B or 81A inorder to avoid saturating the receiving circuit—which would likewisemake accurate measurement difficult or impossible. Under particularmeasurement circumstances, such reduction of the amplitude can also beused for long pulses. An example which may be cited in this regard isthe case of multiple target measurement, for example distancedetermination for a distant target through vegetation or a pane ofglass.

The double-headed arrow 80 symbolizes the alteration—used in thisspecific embodiment—of the setting for the driver stage using themeasurement distance. The adjustment along this arrow can be performedfully automatically using the recorded measured values. The strategyused for this (e.g. arrow direction for the process when distance isunknown) can be matched to the apparatus-specific measurement tasks. Inother embodiments, this can also be accomplished semi-automatically, forexample by virtue of the user choosing between short or long range (thatis to say the pulse duration) and the evaluation unit automaticallymatching the amplitude of the emitted signal within this selection. Ifappropriate, the user may be asked to change the mode if this appearsadvantageous to the evaluation unit on the basis of the receivedsignals.

FIG. 8 illustrates continuous emission of single pulses 81 of shortduration in a first mode of operation with relatively short maximumrange but good distance measurement accuracy. The pulse shape shown inthis and the subsequent figures is square to simplify matters, but thisshould not be regarded as restrictive. The signal component 81R1reflected from the target object follows the transmission pulse at ashort interval of time and has a relatively high intensity or signalstrength. On account of the high signal strength, the received signal81R1 can be evaluated using a high bandwidth and hence withcorrespondingly high accuracy over time, which allows accurate distancedetermination. The large noise bandwidth which the evaluated signallikewise contains is not detrimental in this case, since, as stated, theuseful signal is sufficiently large and hence the SNR meets therequirements for distance determination.

FIG. 9 now illustrates a pulse duration which is increased in accordancewith the invention, the amplitude value 84 being the same as in FIG. 5.Since the measurement distance is now greater, the interval of timebetween the transmission pulse 82 and the reception pulse 82R iscorrespondingly longer and also the amplitude of the received pulse 82Ris smaller for constant transmission pulse amplitude. As explained, bybroadening the pulses and appropriately matching the bandwidth for thesignal evaluation, it is nevertheless possible to achieve an adequateSNR—or in other words a longer maximum measurement distance. The pulsesfrom FIG. 9 can thus advantageously be used for long measurementdistances which can be measured only poorly or not at all using thepulses from FIG. 8. Although the measurement accuracy that can beachieved with the long pulses from FIG. 9 is lower than that with theshort pulses from FIG. 8, the long pulses allow greater ranges to beattained. As already explained, the short pulses are advantageous forincreased accuracy of the measured distance, on the other hand, but witha more restricted range scope in comparison with the pulses from FIG. 6.

FIG. 10 shows a further embodiment of yet longer pulses 83. In this casetoo, the pulse amplitude 84, that is to say the intensity of the emittedsignal, is the same as in FIG. 8 and FIG. 9. As mentioned, in oneembodiment, the amplitude value of the pulses may alternatively beadjustable. The pulse duration that is set even longer in thisembodiment allows even greater maximum distances to be achieved than inFIG. 9. According to the invention, at least two pulse durations areimplemented, one for accurate measurement of close target and one forless accurate measurement of more distant targets. However, three ormore levels (for close, medium-range and distant targets) and alsocontinuous or quasi-continuous (=high-resolution discrete levels)setting options for the pulse durations are also embodiments accordingto the invention.

The electronic implementation of an EDM which, according to theinvention, uses different pulse durations can be provided by the driverstage 5 using a wide variety of circuitry approaches. Some exemplaryinstances of these are explained with reference to the figures whichfollow. The embodiments shown here are not intended to be considered tobe a conclusive list. Only basic circuits for providing thefunctionality according to the invention are shown. Practical circuitryimplementations of the embodiments shown can be extended if appropriatein line with general basic knowledge of electronic circuit design. Aperson skilled in the art who is familiar with the field of electricalengineering is able to deduce the relevant mathematical representationsof the circuit characteristics or to ascertain them by means ofnumerical simulations in order to dimension component values such that aresult according to the invention is attained in the practicalimplementation. By way of example, in the circuits represented here,temperature compensation circuits or other circuits for lessening errorinfluences, energy storage capacitors, settings for operating points forcomponents, etc. are not shown for the sake of clarity.

The additionally required circuit complexity in this case keeps withinlimits in comparison with the prior art design. Specifically incomparison with the costs of the other components in an EDM(specifically the laser), this is more or less invisible. A nonsiliconlaser, such as a 1550 nm laser of appropriate power, constitutes manytimes the costs of a driver circuit extended in accordance with theinvention. Use of a more powerful laser to extend the measurement rangewould mean more complexity in comparison with the present invention.

FIG. 11 shows an exemplary general equivalent circuit diagram for aninventive driver stage for the inventive emission of pulses having anadjustable pulse duration in the form of a current pulse output stage Ipwith variable pulse duration t.

FIG. 12 shows an exemplary circuit diagram for an embodiment of aninventive driver stage 5A for generating actuating pulses with,particularly during the operation thereof, adjustable pulse amplitudeand adjustable pulse duration which can be used to actuate a lightsource LD in an EDM. The light source LD shown in this case is a laserdiode, with it also being possible to use other light sources, such aslight-emitting diodes, etc. The light source may also be a pump lightsource for a laser. The driver stage 5A draws its power in thisillustration from the voltage source U, which may be embodied directlyas a voltage source in the form of a battery or a storage battery, butmay also have further electronic circuit components, such as energystorage capacitors, boost or buck converters, voltage stabilizers, etc.In this case, the switch S1 can be used to charge the capacitor C1 fromthe voltage source, and the switch S3 can be used to discharge thecapacitor C1 via the light source LD with the emission of a light pulse.Once the switch S2 is closed, the capacitor C2 is connected in parallelto C1, and the thus higher total capacitance when the switch S3 isclosed means that a light pulse of a relatively long duration isemitted.

FIG. 13 shows an exemplary circuit diagram for an embodiment of aninventive driver stage 5B in an EDM transmitting unit. In this case, analternative circuitry solution for connection of an additionalcapacitance to extend the pulse duration is represented by the switchS2.

A transmitting unit according to the invention having a pulse outputstage according to the invention, which allows control of the amplitudevalues and of the pulse duration of the pulses, allows the describedtrade-off between measurement accuracy and measurement range by the userduring or before the measurement in the field. In accordance with thepresent invention, either emission of short light pulse durations withrelatively high distance measurement accuracy is made possible or elseemission with long light pulse durations with a greater range for thedistance measurement is provided, and it is possible to change betweenthese even during the measurement mode.

As described, a pulse output stage embodied according to the invention(or an inventive distance measuring device having such a pulse outputstage, or an apparatus having such a distance measuring device), inwhich at least two pulse durations can be set in the field during orbefore a respective measurement, for example, allows selection between“high accuracy of the measurements up to medium ranges” or “averageaccuracies for greatest possible measurement distance”.

It is therefore possible to combine two worlds in one apparatus design,and no compromise is needed to be made in this regard during the designphase of the apparatus. At most, the EDM can also automatically itselfvary the emission pulse duration using the reflected signals (e.g. usingthe intensity thereof or a first, coarse distance determination orestimation).

FIG. 14 shows an exemplary circuit diagram for an embodiment of aninventive driver stage 5C. In this case, the circuit portion in the caseof the voltage source forms a type of boost converter. The variation inthe pulse duration is in turn produced by connecting a further capacitorC2 using the switch S1.

FIG. 15 shows an exemplary circuit diagram for a further embodiment ofan inventive driver stage 5D, in the case of which differentcombinations of the three switches S1, S2, S3 allow differenttransmission pulses to be selected.

FIG. 16 shows an exemplary circuit diagram for a further embodiment ofan inventive driver stage 5E, in the case of which an incompletedischarge for a capacitor C>> takes place, which has a highercapacitance value in comparison with the previous embodiments. Theswitched-on time for S3 is used to determine the pulse duration, withthe capacitor C>> not being discharged completely, but rather keepingits voltage essentially constant during the pulse emission.

In this case, the resultant pulse shape corresponds approximately tothat from FIG. 3 b. Optionally, the amplitude may be able to be adjustedby varying the voltage U (indicated by the dashed arrow).

In the circuits 5A, 5B, 5C, 5D, 5E shown, two or more different pulselengths can be set. If required, it is also possible for the pulseamplitude to be designed to be adjustable, e.g. by virtue of appropriateswitch actuation or variation of the supply voltage. By way of example,an adjustable actuating voltage can be used to set the pulse amplitudeand, independently thereof, by means of a switched-on time for theswitch, the pulse width. The power transistors used for switching theoften considerable actuating currents in the driver circuits may in thiscase be not only classical silicon power drivers, such as bipolar orfield effect transistors, but also gallium arsenide or gallium nitridetransistors, for example.

1. An opto-electronic distance measuring device, particularly a laserdistance measuring device, having: a transmitting unit having a driverstage for a light source, particularly a semiconductor light source, foremitting optical pulses as pulsed-mode-intensity-modulated opticalradiation, a receiving unit for receiving a portion of the opticalradiation, said portion being reflected from a target object, andconverting it into an electrical reception signal, by means of aphotosensitive electrical component, particularly a photodiode, ananalogue-digital converter for digitizing the reception signal, and anelectronic evaluation unit which is designed in such a way that adistance from the target object can be ascertained on the basis of asignal propagation time using the digitized reception signal, whereinthe driver stage is designed in such a way that at least two pulsedurations of different length for the optical pulses can be set,particularly wherein extension of the pulse duration allows expansion ofa distance measurement range, as a maximum ascertainable distance, to beachieved.
 2. The distance measuring device according to claim 1, whereinthe electronic evaluation unit is designed in such a way that thesetting of the pulse duration is taken as a basis for using a, inparticular, digital, configurable filter to set a bandwidth for the, inparticular digitized, reception signal, particularly wherein extensionof the pulse duration involves reduction of the bandwidth, specificallyextension of the pulse duration involves lowering of an upper cutofffrequency for a low-pass-filter characteristic of the filter.
 3. Thedistance measuring device according to claim 1 wherein the distancemeasuring device provides a first mode of operation having a first pulseduration and at least one second mode of operation having a second pulseduration, wherein the first pulse duration is shorter than the second,particularly wherein one of the modes of operation can be selected by auser.
 4. The distance measuring device according to claim 1 wherein thetransmitting unit is designed in such a way that the pulse duration isset on the basis of an at least coarsely ascertained or estimateddistance from the target object, particularly wherein the distancemeasuring device is designed in such a way that the pulse duration isset to be longer for long distances than for short distances,specifically wherein a distance threshold being exceeded by theascertained distance automatically involves extension of the pulseduration in comparison with that for a distance below the distancethreshold.
 5. The distance measuring device according to claim 1 whereinthe driver stage is a pulse output stage which is designed in such a waythat the pulse duration can be set variably independently of a pulseamplitude of the optical pulses, particularly wherein prescribed valuesof the pulse amplitude and of the pulse duration can each be setindependently of one another.
 6. The distance measuring device accordingto claim 1 wherein the driver stage has a connectable capacitor forstoring a pulse energy, wherein by connecting the capacitor the pulseduration can be set.
 7. An observation apparatus having a distancemeasuring device according to claim 1, having a targeting device forsighting the target object, wherein an optical axis of the targetingdevice points in the same direction as an optical axis of the distancemeasuring device, particularly wherein the observation apparatus isdesigned in such a way that a first mode “high distance accuracy” or asecond mode “long measurement distance” of the distance measuring devicecan be selected using respective different pulse durations.
 8. Theobservation apparatus according to claim 7, which has an automatic modewhich is designed in such a way that the variable setting of the pulseduration takes place automatically in accordance with a characteristicof the reception signal, particularly in accordance with anevaluatability of reception pulses in the reception signal and asignal-to-noise ratio that can be achieved therefor.
 9. A distancemeasuring method comprising: emission of pulsed-mode-amplitude-modulatedoptical radiation, particularly laser light, reception of a portion ofthe optical radiation, said portion being reflected from a targetobject, by means of a photosensitive electrical component which convertsthe received optical radiation into an electrical reception signal,digitization of the reception signal by means of an analogue-digitalconverter, and ascertainment of a distance from the target object on thebasis of a signal propagation time by means of evaluation of thedigitized reception signal by means of an electronic evaluation unit,wherein one of at least two adjustable pulse durations of differentlength for the optical radiation is selected, which allows a maximumvalue for the ascertainable distance to be altered, particularly whereinextension of the pulse duration increases the maximum value.
 10. Thedistance measuring method according to claim 9, wherein the distance isascertained by means of configurable filtering of the reception signal,which filtering is configured in accordance with the set pulse durationin such a way that a bandwidth for the reception signal is matched tothe set pulse duration, particularly wherein the bandwidth is decreasedtowards longer pulse durations.
 11. The distance measuring methodaccording to claim 10, wherein besides the pulse duration being set thepulse amplitude is also set, particularly wherein the pulse duration andthe pulse amplitude can each be set independently of one another. 12.The distance measuring method according to claim 9 wherein the pulseduration is set on the basis of the distance, particularly wherein alonger pulse duration is set for a distant target object at a relativelylong distance than for a close target object at a shorter distance,specifically wherein the set pulse duration is automatically matched tothe ascertained distance, particularly wherein the pulse duration isextended as distance increases, specifically wherein the pulse amplitudeis kept constant.
 13. The distance measuring method according to claim9, wherein a selection is made between a first mode “accuratemeasurement” with emission of the optical pulses with a shorter pulseduration than in at least one second mode “long measurement” withemission of the optical pulses with a longer pulse duration than in thefirst mode.
 14. The method for flexibly matching a distance resolutioncapability of an optoelectronic distance measuring device according toclaim 1 on the basis of distance, comprising matching of a pulseduration of an emitted optical transmission signal from the distancemeasuring device on the basis of an ascertained or ascertainabledistance, particularly comprising automatic extension of the pulseduration for relatively long distances by means of an evaluation unit,particularly comprising matching of a bandwidth of a reception signal,which is used for ascertaining the distance, to the pulse duration. 15.A computer program product having program code, which is stored on anon-transitory machine-readable storage medium, embodied by anelectromagnetic wave, for carrying out the method according to claim 9,particularly wherein the program code varies a maximum measurementdistance of the optoelectronic distance measuring method by setting apulse duration for optical radiation emitted in pulsed fashion, andpreferably also performs bandwidth matching for the reception signalwhen the distance is ascertained, specifically when the program code isexecuted in an evaluation unit of an optoelectronic distance measuringdevice.